{"id":"https://openalex.org/W4383097649","doi":"https://doi.org/10.1109/icra48891.2023.10160793","title":"Efficient View Path Planning for Autonomous Implicit Reconstruction","display_name":"Efficient View Path Planning for Autonomous Implicit Reconstruction","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097649","doi":"https://doi.org/10.1109/icra48891.2023.10160793"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100747913","display_name":"Jing Zeng","orcid":"https://orcid.org/0000-0002-4886-5682"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Zeng","raw_affiliation_strings":["Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103759007","display_name":"Yanxu Li","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanxu Li","raw_affiliation_strings":["Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023342187","display_name":"Yunlong Ran","orcid":"https://orcid.org/0000-0002-4074-6187"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunlong Ran","raw_affiliation_strings":["Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386630","display_name":"Shuo Li","orcid":"https://orcid.org/0000-0002-5184-3230"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Li","raw_affiliation_strings":["Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019036797","display_name":"Lincheng Li","orcid":"https://orcid.org/0000-0002-6047-0472"},"institutions":[{"id":"https://openalex.org/I4210091137","display_name":"NetEase (China)","ror":"https://ror.org/00fp6fj05","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091137"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lincheng Li","raw_affiliation_strings":["Fuxi AI Lab, NetEase,Hangzhou,China,310052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fuxi AI Lab, NetEase,Hangzhou,China,310052","institution_ids":["https://openalex.org/I4210091137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068195118","display_name":"Shibo He","orcid":"https://orcid.org/0000-0002-1505-6766"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shibo He","raw_affiliation_strings":["Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726041","display_name":"Jiming Chen","orcid":"https://orcid.org/0000-0003-3155-3145"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiming Chen","raw_affiliation_strings":["Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101493796","display_name":"Qi Ye","orcid":"https://orcid.org/0000-0003-2285-3402"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Ye","raw_affiliation_strings":["Zhejiang University,Hangzhou,China,310027","State Key Laboratory of Industrial Control Technology and also the Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province, College of Control Science and Engineering, Zhejiang University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and also the Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province, College of Control Science and Engineering, Zhejiang University, China","institution_ids":["https://openalex.org/I76130692","https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4063","last_page":"4069"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.773677408695221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7558181285858154},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7379375696182251},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6100993752479553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5517458915710449},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5442476868629456},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.49301883578300476},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46912574768066406},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4564805328845978},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.41749969124794006},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34438616037368774},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3058937191963196},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2798394560813904},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2655040919780731}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.773677408695221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7558181285858154},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7379375696182251},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6100993752479553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5517458915710449},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5442476868629456},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.49301883578300476},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46912574768066406},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4564805328845978},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.41749969124794006},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34438616037368774},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3058937191963196},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2798394560813904},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2655040919780731},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G57923224","display_name":null,"funder_award_id":"62233013,62088101","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1987648924","https://openalex.org/W2033483472","https://openalex.org/W2092705708","https://openalex.org/W2409009991","https://openalex.org/W2413963660","https://openalex.org/W2739572770","https://openalex.org/W2745471877","https://openalex.org/W2811158378","https://openalex.org/W2912372166","https://openalex.org/W2964076802","https://openalex.org/W2973864946","https://openalex.org/W3087588036","https://openalex.org/W3089684410","https://openalex.org/W3100948105","https://openalex.org/W3109585842","https://openalex.org/W3109700159","https://openalex.org/W3120561889","https://openalex.org/W3125164440","https://openalex.org/W3172407388","https://openalex.org/W3177583232","https://openalex.org/W3194521805","https://openalex.org/W3215769467","https://openalex.org/W4214768561","https://openalex.org/W4214931975","https://openalex.org/W4221151978","https://openalex.org/W4312280420","https://openalex.org/W4312878643","https://openalex.org/W4313887267","https://openalex.org/W4383109216","https://openalex.org/W6774631009","https://openalex.org/W6845901686"],"related_works":["https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"Implicit":[0],"neural":[1,68],"representations":[2,90],"have":[3],"shown":[4],"promising":[5],"potential":[6],"for":[7,23,52,75],"3D":[8,17,54],"scene":[9,154],"reconstruction.":[10],"Recent":[11],"work":[12],"applies":[13],"it":[14,29],"to":[15,64,91],"autonomous":[16,125],"reconstruction":[18,118],"by":[19],"learning":[20],"information":[21,35,77],"gain":[22,36,78],"view":[24],"path":[25,104],"planning.":[26],"Effective":[27],"as":[28,70],"is,":[30],"the":[31,34,49,60,76,83,96,117,134,141],"computation":[32],"of":[33],"is":[37,56],"expensive,":[38],"and":[39,80,120,129,140,151],"compared":[40,123],"with":[41,87,95,124,127,155],"that":[42,144],"using":[43,48],"volumetric":[44,89],"representations,":[45],"collision":[46],"checking":[47],"implicit":[50,72,84,128],"representation":[51,86],"a":[53,67,101,108,137,153],"point":[55],"much":[57],"slower.":[58],"In":[59],"paper,":[61],"we":[62,99],"propose":[63,100],"1)":[65],"leverage":[66],"network":[69],"an":[71],"function":[73],"approximator":[74],"field":[79],"2)":[81],"combine":[82],"fine-grained":[85],"coarse":[88],"improve":[92],"efficiency.":[93],"Further":[94],"improved":[97],"efficiency,":[98],"novel":[102],"informative":[103,149],"planning":[105,121],"based":[106],"on":[107,136],"graph-based":[109],"planner.":[110],"Our":[111],"method":[112,135,146],"demonstrates":[113],"significant":[114],"improvements":[115],"in":[116],"quality":[119],"efficiency":[122],"reconstructions":[126],"explicit":[130],"representations.":[131],"We":[132],"deploy":[133],"real":[138],"UAV":[139],"results":[142],"show":[143],"our":[145],"can":[147],"plan":[148],"views":[150],"reconstruct":[152],"high":[156],"quality.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
